diff --git a/jointStateMapper/DESCR b/jointStateMapper/DESCR
deleted file mode 100644
index 21eb3186fe04156b125f93b0f313b530a02cfbfe..0000000000000000000000000000000000000000
--- a/jointStateMapper/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Genom module for the KuKa arm
diff --git a/jointStateMapper/PLIST b/jointStateMapper/PLIST
deleted file mode 100644
index a3412cc9578556733c8a589edbcce9032f3d052b..0000000000000000000000000000000000000000
--- a/jointStateMapper/PLIST
+++ /dev/null
@@ -1,3 +0,0 @@
-lib/libjointstatemapper.so
-include/jointStateMapper/include/jointMapParser.hpp
-include/jointStateMapper/include/jointStateMapper.hpp
diff --git a/jointStateMapper/depend.mk b/jointStateMapper/depend.mk
deleted file mode 100644
index af5ba53bca2c441dcbb9009abdfc256e06c70f8d..0000000000000000000000000000000000000000
--- a/jointStateMapper/depend.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright (c) 2010 LAAS/CNRS
-# All rights reserved.
-#
-# Redistribution  and  use in source   and binary forms,  with or without
-# modification, are permitted provided that  the following conditions are
-# met:
-#
-#   1. Redistributions  of  source code must  retain  the above copyright
-#      notice, this list of conditions and the following disclaimer.
-#   2. Redistributions in binary form must  reproduce the above copyright
-#      notice,  this list of  conditions and  the following disclaimer in
-#      the  documentation   and/or  other  materials   provided with  the
-#      distribution.
-#
-#                                    Severin Lemaignan on Tue 31 Aug 2010
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-JOINTSTATEMAPPER_DEPEND_MK:=	${JOINTSTATEMAPPER_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		jointStateMapper
-endif
-
-ifeq (+,$(JOINTSTATEMAPPER_DEPEND_MK)) # ----------------------------------
-
-PREFER.jointStateMapper?=	robotpkg
-
-SYSTEM_SEARCH.jointStateMapper=\
-	include/jointStateMapper/jointStateMapper.hpp	\
-	lib/libjointstatemapper.so
-
-DEPEND_USE+=		jointStateMapper
-
-DEPEND_ABI.jointStateMapper?=jointStateMapper>=0.99
-DEPEND_DIR.jointStateMapper?=../../wip/jointStateMapper
-
-endif # JOINTSTATEMAPPER_DEPEND_MK ----------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/jointStateMapper/distinfo b/jointStateMapper/distinfo
deleted file mode 100644
index 95f8ae1771e02cc9544fa9fdb6aba02c86a10fe9..0000000000000000000000000000000000000000
--- a/jointStateMapper/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (jointStateMapper-0.99.tar.gz) = 8fa7615053363ab0d851db60a8adb876a15c07d8
-RMD160 (jointStateMapper-0.99.tar.gz) = 0dde67bd26c46c9f311de2b19862cf7c838a35d5
-Size (jointStateMapper-0.99.tar.gz) = 4397 bytes
diff --git a/libjointstatemapper/DESCR b/libjointstatemapper/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..3fc06816f3a43869becdbb4d68a4d30b476325c8
--- /dev/null
+++ b/libjointstatemapper/DESCR
@@ -0,0 +1,9 @@
+libJointStateMapper is a library that maps a joint configuration from one joint
+convention to another one.
+
+It relies at initialization on two lists of joint name (one for the source, one
+for the target) and a mapping between these two.
+
+Then, it can be invoked to 'reorder' a joint state (ori::JointState) from the 
+source convention to the destination convention.
+
diff --git a/jointStateMapper/Makefile b/libjointstatemapper/Makefile
similarity index 54%
rename from jointStateMapper/Makefile
rename to libjointstatemapper/Makefile
index 215e1697e51e7b65e4f17ee2d78acecc9e1a7365..6f3b025b4e3e865096649ff8f12229a7efb73f4d 100644
--- a/jointStateMapper/Makefile
+++ b/libjointstatemapper/Makefile
@@ -2,23 +2,17 @@
 # Created:			Mokhtar Gharbi on Fri, 25 Mar 2011
 #
 
-DISTNAME=		jointStateMapper-0.99
-CATEGORIES=		interface
+DISTNAME=			libjointstatemapper-1.0.1
+CATEGORIES=			interface
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=jointStateMapper/}
 MASTER_REPOSITORY=	git ssh://trac.laas.fr/git/robots/jointStateMapper
 
-MAINTAINER=		mokhtar.gharbi@laas.fr
-COMMENT=		Library to translate the joint state of a model to anoter one
-LICENSE=                2-clause-bsd
-
+MAINTAINER=			mokhtar.gharbi@laas.fr
+COMMENT=			Library to translate the joint state order from a model to another one
+LICENSE=			2-clause-bsd
 
 USE_LANGUAGES+=		c++
 
-##################################
-#### JOINTSTATEMAPPER OPTIONS ####
-#################################
-
-
 include ../../interfaces/openrobots-pose/depend.mk
 
 include ../../mk/sysdep/cmake.mk
diff --git a/libjointstatemapper/PLIST b/libjointstatemapper/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..07effa40d05c10171d9fde497555f8550d589845
--- /dev/null
+++ b/libjointstatemapper/PLIST
@@ -0,0 +1,3 @@
+lib/libjointstatemapper.so
+include/jointStateMapper/jointMapParser.hpp
+include/jointStateMapper/jointStateMapper.hpp
diff --git a/libjointstatemapper/depend.mk b/libjointstatemapper/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..b244b48e800eed04bd46822b84454a6167ac1842
--- /dev/null
+++ b/libjointstatemapper/depend.mk
@@ -0,0 +1,24 @@
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+JOINTSTATEMAPPER_DEPEND_MK:=	${JOINTSTATEMAPPER_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		jointStateMapper
+endif
+
+ifeq (+,$(JOINTSTATEMAPPER_DEPEND_MK)) # ----------------------------------
+
+PREFER.jointStateMapper?=	robotpkg
+
+SYSTEM_SEARCH.jointStateMapper=\
+	include/jointStateMapper/jointStateMapper.hpp	\
+	lib/libjointstatemapper.so
+
+DEPEND_USE+=		jointStateMapper
+
+DEPEND_ABI.jointStateMapper?=jointStateMapper>=1.0
+DEPEND_DIR.jointStateMapper?=../../wip/jointStateMapper
+
+endif # JOINTSTATEMAPPER_DEPEND_MK ----------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/libjointstatemapper/distinfo b/libjointstatemapper/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..24cbfc98d8b932775c2991f8f77b01deb0954023
--- /dev/null
+++ b/libjointstatemapper/distinfo
@@ -0,0 +1,3 @@
+SHA1 (libjointstatemapper-1.0.1.tar.gz) = 313be96b87f04895426a433b0dc9b32494e1e5e5
+RMD160 (libjointstatemapper-1.0.1.tar.gz) = cc312299f67885df22277c73739e1048fa2d3627
+Size (libjointstatemapper-1.0.1.tar.gz) = 4966 bytes